CN113077562B

CN113077562B - Intelligent inspection method and system for gas pipe network

Info

Publication number: CN113077562B
Application number: CN202110384210.5A
Authority: CN
Inventors: 高顺利
Original assignee: Beijing Gas Group Co Ltd
Current assignee: Beijing Gas Group Co Ltd
Priority date: 2021-04-09
Filing date: 2021-04-09
Publication date: 2021-12-14
Anticipated expiration: 2041-04-09
Also published as: CN114333096B; CN114333096A; CN113077562A

Abstract

The invention provides an intelligent gas pipe network inspection method and system, and solves the technical problem that the existing intelligent inspection method is lack of effective perception on the complete information dimension of the pipe network environment space. The method comprises the following steps: dividing the pipe network space to form design feature description of entity resources in a local space; continuously sampling physical attributes of the physical resources in the local space to form morphological feature description; continuously sampling the environmental attributes of the physical resources in the local space to form environmental characteristic description; performing migration quantification through continuous morphological characteristic description and environmental characteristic description to form objective situation description of a pipe network space; and acquiring subjective situation description of the entity resources according to the design characteristic description, and evaluating the running state and state trend of the entity resources according to the objective situation description and the subjective situation description. And acquiring rich objective description dimensions corresponding to the subjective description dimensions in the objective environment. And objective situation description based on objective environment performance data is formed, and the intrinsic safety level of the gas enterprise is improved.

Description

Intelligent inspection method and system for gas pipe network

Technical Field

The invention relates to the technical field of environment detection, in particular to an intelligent inspection method and system for a gas pipe network.

Background

In the prior art, a patrol robot adopts a computer technology to integrate electromechanical systems of a running mechanism, carries out unmanned patrol in a relatively closed space according to routing circuit patterns on the basis of carrying professional sensors such as audio and video and the like, is applied to the security field of building and intensive equipment laying places, and has basic data acquisition and customization capacity based on positions.

However, in the field of gas pipe network inspection for open environments, pipe network equipment such as pipelines, valve banks and lock wells of a gas pipe network are distributed in different physical media based on a large-scale three-dimensional space and are widely deployed in an open space, and inspection information needs to include partial explicit feedback of inherent state characteristics of the pipe network system in an original deployment stage and partial explicit feedback of environment change states of the physical media where the pipe network system is located. The inspection of the gas pipe network involves the contradiction between the precision and the breadth of signal acquisition in different information dimension spaces, and also involves the contradiction between the data volume and the real-time property of signal acquisition in different scale areas. The existing inspection robot technology cannot meet the requirements in two aspects of data processing and information acquisition.

The routing inspection route of the existing robot is scheduled to inspect according to a fixed route mobilized sensor, all information acquisition routes and information acquisition areas continue the thought of the traditional information acquisition technology, the routing inspection route is set based on prior experience or general rules, and essentially, a professional sensor is used as a narrow-band filter to acquire environmental information, the acquired basic characteristics of the space where a pipe network is located and the operation situation characteristics of the pipe network are mapped to the limited two-dimensional space where the fixed route is located, so that the characteristic acquisition of the pipe network in the space where the pipe network is located and the massive loss of the environmental information acquisition are caused. Finally, multi-dimensional acquisition of the operation situation of the pipe network cannot be realized, and high-dimensional analysis and prediction of the operation situation cannot be formed.

Although the Beidou high-precision positioning and navigation autonomous traveling system is combined, the inspection robot can fuse and position inspection paths, and unmanned autonomous obstacle avoidance traveling and precision positioning capabilities are realized, the conventional professional sensor layout structure of the inspection robot still follows the conventional simple time sequence acquisition mode and lacks flexibility, complete space information of operation situations of pipe network equipment and environments in the surrounding acquisition area in the acquisition direction cannot be acquired, and the complete space dimensionality of a field environment cannot be effectively established. In the prior art, discreteness and key information loss exist in the restoration of the running situation in the complete pipe network space by using the collected information of the conventional inspection robot through the server, and the unified multi-level effective analysis and early warning on the running situation in the environment space formed by the topological form of the complex pipe network cannot be formed only by the conventional data processing and optimizing means.

In order to improve the intrinsic safety level of a gas enterprise, reduce safety risks, reduce labor intensity and realize cost reduction and efficiency improvement, the technical problem of how to form a gas pipeline field to effectively patrol and examine a complex routing environment needs to be solved.

Disclosure of Invention

In view of the above problems, embodiments of the present invention provide an intelligent inspection method and system for a gas pipe network, which solve the technical problem that the existing intelligent inspection lacks effective sensing on the complete information dimension of the pipe network and the pipe network environment space.

The intelligent inspection method for the gas pipe network provided by the embodiment of the invention comprises the following steps:

dividing the pipe network space to form design feature description of entity resources in a local space;

continuously sampling the physical attributes of the entity resources in the local space through an inspection robot to form morphological feature description;

continuously sampling the environmental attributes of the entity resources in the local space through the inspection robot to form environmental characteristic description;

performing migration quantification through the continuous morphological characteristic description and the environmental characteristic description to form objective situation description of a pipe network space;

and acquiring subjective situation description of the entity resource according to the design feature description, and evaluating the running state and the state trend of the entity resource according to the objective situation description and the subjective situation description.

The gas pipe network intelligent inspection system of the embodiment of the invention comprises:

the memory is used for storing program codes corresponding to the processing process of the intelligent gas pipe network inspection method;

a processor for executing the program code.

the inspection robot is used for continuously sampling the physical attribute and the environmental attribute of the physical resource in the local space on the inspection route;

the pipe network operation situation evaluation system is used for forming a processing process of overall objective situation description of a pipe network environment space according to local morphological characteristic description and environment characteristic description formed by continuous sampling; and according to the acquired design feature description, subjective situation description and objective situation description, evaluating the running state and state trend of the entity resource.

The intelligent inspection method and the intelligent inspection system for the gas pipe network fully utilize design resources of the existing pipe network system to form rich subjective description dimensions of the entity resource body of the pipe network system, and simultaneously obtain the physical attributes of the entity resources and the rich objective description dimensions of the environment attributes corresponding to the subjective description dimensions in the objective environment by utilizing an inspection means. And subjective situation description based on the operation data of the pipe network system and objective situation description based on objective environment expression data are formed, and the evaluation of the pipe network operation state is objectively described from the relevance of different data dimensions of objective situation and subjective situation, so that the pipe network state prediction is realized, and the intrinsic safety level of a gas enterprise is improved.

Drawings

Fig. 1 is a schematic flow chart of an intelligent inspection method for a gas pipe network according to an embodiment of the invention.

Fig. 2 is a schematic diagram illustrating a flow of forming a description of design features in the intelligent inspection method for a gas pipe network according to an embodiment of the present invention.

Fig. 3 is a schematic view illustrating a continuous sampling process in the intelligent inspection method for a gas pipe network according to an embodiment of the present invention.

Fig. 4 is a schematic view illustrating a process of forming a guest situation description in the intelligent inspection method for a gas pipe network according to an embodiment of the present invention.

Fig. 5 is a schematic view illustrating an evaluation flow in the intelligent inspection method for a gas pipe network according to an embodiment of the present invention.

Fig. 6 is a schematic view of the overall structure of an inspection robot of the intelligent inspection system for a gas pipe network according to an embodiment of the invention.

Fig. 7 is a schematic view (partially cut away) of a support frame in a comprehensive sensor arrangement mechanism of an inspection robot of a gas pipe network intelligent inspection system according to an embodiment of the invention.

Fig. 8 is a schematic top view (partially cross-sectional view) of a support frame in a comprehensive sensor arrangement mechanism of an inspection robot of the intelligent inspection system for a gas pipeline network according to an embodiment of the invention.

Fig. 9 is a schematic view (partially cut away) of a transmission structure in a comprehensive sensor arrangement mechanism of an inspection robot of the intelligent inspection system for a gas pipe network according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer and more obvious, the present invention is further described below with reference to the accompanying drawings and the detailed description. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

An intelligent inspection method for a gas pipe network in an embodiment of the invention is shown in fig. 1. In fig. 1, the present embodiment includes:

step 100: and partitioning the pipe network space to form the design characteristic description of the entity resources in the local space.

Those skilled in the art will appreciate that the pipe network system is constructed and optimized according to the geographical environment and the location of the user's resources, and includes, but is not limited to, different levels of piping, valves, lock wells, etc. to form the facility. The pipe network system and the adjacent environment space jointly form a pipe network space. The component facilities of the pipe network system comprise physical attributes of the component facilities and environmental attributes of the environment where the component facilities are located as entity resources. The entity resources can be pertinently described by dividing the local space formed by the pipe network space, and the design characteristic description particularly comprises the design characteristic description according to the deployment of the entity resources so as to embody the objectivity of physical attributes and environmental attributes.

Step 200: and carrying out on-site continuous sampling on the physical attributes of the physical resources in the local space through the inspection robot to form morphological feature description.

The on-site continuous sampling comprises physical signal acquisition of the entity resource in a local space and also comprises physical signal acquisition of the entity resource in a continuous or interval local space on the routing inspection route. Physical attributes of the entity resource include, but are not limited to, physical attributes included in the design features, such as physicochemical features, and physical attributes affected by the environment, such as oxidation traces, leakage traces, and the like. The morphological feature description is the result of a quantitative data forming process of the inherent attribute of the entity resource in the natural variation process in the real environment. The morphological feature description formed by continuous sampling has real-time attribute and spatial attribute.

Step 300: and carrying out on-site continuous sampling on the environmental attributes of the solid resources in the local space through the inspection robot to form environmental characteristic description.

The environment attributes of the entity resource include, but are not limited to, physical attributes of a physical environment in which the entity resource is located, and also include changes of the physical attributes, such as intrusion, occupancy, and the like, caused by changes of the physical environment. The environment characteristic description is the result of the formation process of the quantitative data of the environment attribute in the process of the change of the real environment of the entity resource. The environment feature description formed by continuous sampling has real-time property and space property.

Step 400: and performing migration quantification through continuous morphological characteristic description and environmental characteristic description to form objective situation description of the pipe network space.

Accumulated data of morphological characteristic description and environmental characteristic description formed by diversified dimensional data available for the inspection robot can describe the practical mutual influence of an entity resource subject and an entity resource environment object from the time sequence angle and the space angle, and quantitative description of the objective influence of the pipe network facility depending on the environment space in the pipe network space is formed by the practical mutual influence in the local space.

Step 500: and acquiring subjective situation description of the entity resources according to the design characteristic description, and evaluating the running state and state trend of the entity resources according to the objective situation description and the subjective situation description.

The positioning of the entity resources of the local space is realized by utilizing the design feature description, and the situation (vector quantization) vector description in the determined local space is realized as subjective situation description by positioning the operation data formed by the pipe network sensor system which can be obtained by the existing monitoring means. The subjective situation description forms the autonomous state expression of the pipe network, the internal qualitative description of the pipe network state, the objective situation description forms the objective state expression of the pipe network, the external quantitative description of the pipe network state is formed, and then the operation state and state trend prediction which is objectively reflected is formed.

The intelligent inspection method for the gas pipe network, provided by the embodiment of the invention, fully utilizes design resources of the existing pipe network system to form rich subjective description dimensions of the entity resource body of the pipe network system, and simultaneously obtains the physical attributes of the entity resources and the rich objective description dimensions of the environment attributes, which correspond to the subjective description dimensions, in the objective environment by utilizing an inspection means. And subjective situation description based on operation data of the pipe network system and objective situation description based on objective environment expression data are formed, and estimation is made by objectively describing the pipe network operation state according to the relevance of different data dimensions of objective situation and subjective situation, so that pipe network state prediction is achieved, and the intrinsic safety level of a gas enterprise is improved. Through the description dimensionality obtained by fusing the design characteristics of the pipe network system, the physical characteristics of the routing inspection site and the routing inspection environmental characteristics, the specific routing inspection scenes such as environmental abnormity, construction abnormity, pipe network states and the like visited on the pipeline can be identified and analyzed from the perspective of complete environmental space, and three-dimensional identification and analysis are formed for specific invasion events such as dead tree occupation collapse, excavation, enclosure and the like. Accurate analysis and trend prediction can be effectively carried out on the site situation of the leakage event.

The design feature description in the intelligent inspection method for the gas pipe network in the embodiment of the invention is formed as shown in fig. 2. In fig. 2, the design feature description formation includes:

step 110: and determining basic segmentation dimensions according to the design resources, and establishing a local space segmentation base point of the pipe network space according to the basic segmentation dimensions.

Those skilled in the art will appreciate that design resources may faithfully reflect the performance, structure and assembly of the distribution facilities both throughout and locally to the pipe network, including but not limited to data sets of as-built engineering drawings and as-built data for pipe network construction, and data sets of pipe network modification and repair data during operation and maintenance.

Determining the base segmentation dimension includes:

forming a facility logic layer according to the physical structure of the pipe network; such as a low-pressure pipeline layout logic layer, a low-pressure valve body layout logic layer, a medium-pressure pipeline layout logic layer, a medium-pressure valve body layout logic layer, a sub-high-pressure pipeline layout logic layer, a sub-high-pressure valve body layout logic layer, and the like.

Establishing a local space division base point comprises the following steps:

establishing the distribution gravity center of each facility logic layer; the distribution gravity center is formed according to the scale and the density of a pipe network, and at least one of each facility logic layer exists.

And determining the geographical position distribution of the distribution gravity centers of all the facility logic layers, clustering according to geographical distance characteristics to form a clustering center, and taking the geographical position of the clustering center as a local space segmentation base point.

Step 120: and forming a segmentation scale in a single basic segmentation dimension in the pipe network space according to the local space segmentation base points, and forming a single local space in the single basic segmentation dimension and a corresponding single design feature description.

The local space division base point has a determined coordinate in the pipe network space. The segmentation scale within a single base segmentation dimension (i.e., the facility logic layer) may be determined based on device density, coverage scale, or application level. The single local spaces formed by the single base partition dimensions are generally not equal.

And dividing the design resources according to the determined coordinate range (including a three-dimensional or two-dimensional space range) of the single local space to form the design feature description of the determined facility in each single local space in the single basic division dimension.

Step 130: establishing the correlation and the inclusion degree between single local spaces among single basic segmentation dimensions, establishing the spatial local characteristics of entity resources in the local spaces according to the correlation and the inclusion degree, and forming the design characteristic description of the entity resources according to the spatial local characteristics and the design characteristic description.

The determination of the degree of correlation is determined according to whether the corresponding design resource contains a signal or a medium transfer relationship. The determination of the degree of inclusion is based on the overlapping of the coordinate ranges of the single local space.

And forming a local space by the related and contained single local space according to the relevance and inclusion strategies, and establishing related spatial local characteristics and design characteristic descriptions for entity resources in the local space by combining the design characteristic descriptions of the related and contained single local space.

The intelligent inspection method for the gas pipe network, provided by the embodiment of the invention, forms basic dimensions by utilizing the logic layering of the pipe network system facilities, forms a gateway space separation base point by clustering, and combines the physical resource space characteristics with the design characteristics by the formed local space, so that the basic construction units of the pipe network system and the basic description dimensions of the basic construction units are reconstructed. The limited description dimension rule of the existing pipe network system is eliminated, so that the design resources, the environment real space and the facility real physical characteristics form the associated mapping, and the rich facility description dimension is favorably formed. .

The continuous sampling process in the intelligent inspection method for the gas pipe network in the embodiment of the invention is shown in fig. 3. In fig. 3, the continuous sampling process of morphological feature description formation includes:

step 210: and forming a continuous outline of the entity resource in the local space according to the design characteristic description of the entity resource.

The entity resources of the local space have design feature descriptions related to the spatial features, and the local morphological features and the local structural features of the entity resources can be determined. The position coordinates or projection coordinates of the continuous outlines of the adjacent local spaces can be formed by establishing the continuous outlines of the entity resources according to the local structure characteristics, and routing inspection routes can be formed according to routing inspection strategies and avoidance strategies according to the position coordinates.

The routing inspection strategy and the avoidance strategy can form a routing inspection route of the navigation autonomous driving system according to the coordinate information and the space information of the continuous contour. The routing inspection strategy comprises a routing inspection route shortest route judgment process in the continuous local space or a routing inspection route judgment process which meets the requirement of the maximum projection area of the continuous contour in the continuous local space. The avoidance strategy comprises a possible blocking judgment process of the continuous contour in the continuous local space on the routing inspection route.

Step 220: and describing physical type characteristics and corresponding constraint type characteristics forming continuous outlines according to the design characteristics of the entity resources.

The design characteristic description comprises physical type characteristics of the entity resources, such as pressure bearing indexes, accommodating medium types or operation standard ranges and the like. Correspondingly, the constraint type corresponding to the physical type may also determine a constraint type characteristic that may construct the entity resource, such as a structural variation range, a contained medium leakage index, and the like, that is, a physical characteristic that effectively describes a failure or a standard of the entity resource, such as a temperature characteristic of pressure leakage of a determination pipeline at a determined position in a continuous profile.

Step 230: and forming morphological characteristic description by utilizing the inspection robot to carry sensor sampling constraint type characteristic data.

Those skilled in the art will appreciate that the inspection robot carries specialized sensors necessary in the art as needed. And (4) carrying out signal acquisition on the continuous contour in the local space by using the inspection robot along the inspection route plan, and acquiring data reflecting the constraint type characteristics and part of physical type characteristics.

The intelligent gas pipe network inspection method provided by the embodiment of the invention forms an inspection route and a signal acquisition process according to the characteristics of the physical resources in the local space, and ensures that the feedback of the real environment is realized aiming at the constraint type characteristics of the physical resources in the local space. The real-time field data is provided while a new real-world morphological description dimension is provided for the pipe network facility. The form feature description can be formed by adopting the distributed implementation of a plurality of inspection robots, and the real-time performance and the acquisition feedback efficiency can be ensured.

As shown in fig. 3, in an embodiment of the present invention, the continuous sampling process for environment characterization formation includes:

step 310: and forming an environment space corresponding to the continuous outline of the entity resource in the local space according to the design characteristic description of the entity resource.

The coordinate space of the continuous contour can be determined based on the design feature description, and the determination description data of the corresponding environment space can be formed according to the GIS (geographic information system) geographic information which can be obtained.

Step 320: an violation type feature and at least three levels of security state descriptions of the violation type feature in the environment space are formed from the design characterization of the entity resource.

The design feature description can determine the invasion types of entity resources, and invasion type features such as occupation, extrusion, suspension or high and low temperature in the environment space are formed according to the invasion types. Security State description A secondary feature description of an violation type feature is built based on the inter-feature dependency probability of the existing physical feature of the physical resource within the local space and the violation type feature in the environment space.

Step 330: and carrying out sampling by utilizing the inspection robot to carry a sensor according to the description of the safety state to form quantitative collection of invasion type characteristics in areas with different scales, and forming environmental characteristic description of an environmental space according to the quantitative collection of the descriptions of the different safety states.

The safety state description forms the basic control strategy for the signal sampling action on the environment space. And adjusting the sampling scale and the sampling area of a sensor carried by the inspection robot in the sampling process according to the safety state description, acquiring an invasion type characteristic signal, and forming environmental characteristic description of an environmental space along with the adjustment of the sampling scale and the sampling area of the sensor.

The intelligent gas pipe network inspection method provided by the embodiment of the invention forms an environment space acquisition process according to the characteristics of the entity resources in the local space, ensures the quantitative acquisition of the invasion type characteristics of the entity resources in the local space, and realizes the real environment reflection. The method provides real data while providing a new real form description dimension for the pipe network facility.

The objective situation description forming process in the intelligent inspection method for the gas pipe network in the embodiment of the invention is shown in fig. 4. In fig. 4, the objective situation description formation process includes:

step 410: and establishing a local spatial structure characteristic map of the pipe network according to the physical type characteristics and the spatial local characteristics described by the entity resource design characteristics.

The unequal ratio down-sampling of the pipe network is formed by utilizing the local spaces, so that each local space has the same or different map pixel occupation, and the data volume for data processing of the whole pipe network is reduced. The local space obtains relative position coordinates according to the space local characteristics, and vectorization and normalization are carried out on the physical type characteristics, so that each local space correspondingly has structural characteristics. Structural features include, but are not limited to, describable morphological compositional features and non-describable morphological compositional features.

Step 420: and establishing a local space threat characteristic map of the pipe network according to the constraint type characteristics in the form characteristic description and the invasion type characteristics of the environment space in the environment characteristic description.

And vectorizing and normalizing according to the resolution of the local space structure feature map, the relevance of the entity resources and the local space and the constraint type features of the continuous contour and the invasion type features of the corresponding environment space, so that the continuous contour of each entity resource has negative factor features. Negative factor characteristics include, but are not limited to, describable morphology combination characteristics and non-describable morphology combination characteristics.

Step 430: and overlapping the local space structure characteristic map and the local space threat characteristic map to form the time sequence objective situation description of the local space.

And through the correspondence of the local space, the negative factor characteristic of the continuous contour and the structural characteristic of the local space are superposed, so that the description of the determined local space has the structural characteristic and the negative factor characteristic.

According to the intelligent inspection method for the gas pipe network, the local space is used for carrying out downsampling processing on the gas pipe network, the non-equal-ratio local space is used as map pixels to form the characteristic map of the gas pipe network, and the processing efficiency of the pipe network characteristics is improved. Meanwhile, the local space structural characteristics and the negative factor characteristics are given, so that the local details of the gas pipe network can form time sequence objective situation description through the change of the structural characteristics and the negative factor characteristics, and the change of the real environment in the field continuous sampling process along the routing inspection route can be visually expressed.

The evaluation process in the intelligent inspection method for the gas pipe network in the embodiment of the invention is shown in fig. 5. In fig. 5, evaluating the operational status of the entity resource includes:

step 510: and forming subjective situation description characteristic dimensions of the entity resources according to the production operation data.

As will be appreciated by those skilled in the art, the production run data is formed internally by the gas piping system.

Decomposing the production operation data in a data forming process to determine a middle data forming position; and determining entity resources according to the forming positions, and using the intermediate data as subjective situation description feature dimensions of the entity resources.

Step 520: and extracting corresponding situation description feature dimension data from objective situation description according to the subjective situation description feature dimension, determining time sequence migration quantization, and forming the running state of the entity resource through the time sequence migration quantization.

Those skilled in the art will appreciate that both subjective and objective situation descriptions are directed to entity resources in a local space. Matching feature dimensions of entity resources in subjective situation description with situation description feature dimension data in objective situation description of local space, and extracting time sequence migration quantification of entity resource structure features or local space threat feature data;

and determining the running state of the specific entity resource through the time sequence offset quantization.

According to the intelligent inspection method for the gas pipe network, the subjective characteristic dimension of the entity resource of the gas pipe network system is matched with the objective situation description characteristic dimension, the running state of the entity resource is quantitatively evaluated by using the time sequence difference described by the objective situation, the running state of the gas pipe network is reflected by using objective data, and mutual verification between the subjective dimension and the objective dimension is achieved.

As shown in fig. 5, in an embodiment of the present invention, evaluating the state trend of the entity resource includes:

step 530: and forming a past state trend according to the running state of the entity resource.

And forming a previous operation safety state trend by using different time scales of time sequence deviation quantization, and using the previous operation safety state trend as reference data for describing a characteristic dimension change trend by the subjective situation of the entity resource.

Step 540: and establishing objective situation description simulation parameters according to the previous state trend so as to realize state trend prediction.

Establishing simulation initial values of different time scales in the simulation process by utilizing the previous running safety state trend;

and selecting a corresponding simulation initial value according to the characteristic dimension change trend described by the subjective situation of the entity resource.

The intelligent gas pipe network inspection method provided by the embodiment of the invention forms an objective running state by utilizing the past time sequence of the running state, and describes simulation parameters by utilizing the deviation of the objective running state and the subjective running state as the objective situation of the state trend, thereby providing a simulation basis of the main and objective running state trends.

The intelligent inspection system for the gas pipe network in one embodiment of the invention comprises:

the memory is used for storing the program codes, the sampling data and the formed intermediate data corresponding to the processing process of the intelligent inspection method for the gas pipe network in the embodiment;

and the processor is used for operating the program codes corresponding to the processing process of the intelligent inspection method for the gas pipe network in the embodiment.

and the inspection robot is used for continuously sampling the physical attributes and the environmental attributes of the physical resources in the local space on the inspection route.

Those skilled in the art will appreciate that the inspection robot body utilizes existing electromechanical integration techniques and electromechanical control strategies while utilizing the global satellite navigation system (NGSS) to form the inspection robot body position fix. The physical resources include, but are not limited to, pipeline resources and pipeline-related environmental resources. The entity resources are sensed and sampled by a professional sensor carried by the inspection robot body. The continuous sampling is based on the routing inspection route, and the routing inspection route comprises specific routing lines with overall tendency and local random routing lines with local space uncertainty and formed by environmental triggering.

Those skilled in the art will appreciate that the pipe network operation situation assessment system is based on a computer system, the computer system comprising a memory, a processor and a communication port, wherein:

the memory is used for storing the program codes, the sampling data and the formed intermediate data corresponding to the processing process;

the processor is used for operating the program codes corresponding to each processing process;

and the communication port is used for receiving the sampling data and forming data exchange among the processing processes.

The operation processing process includes, but is not limited to, the processing process of the intelligent inspection method for the gas pipe network in the above embodiment. The communication ports include, but are not limited to, physical ports for data transmission and virtual ports for data exchange. The processor and memory include, but are not limited to, a centralized deployment or a distributed deployment.

The gas pipe network intelligent inspection system provided by the embodiment of the invention can form concurrent inspection routes based on the whole network planning of the pipe network by using the inspection robot, acquire rich-dimensional sampling data formed by various sensors in the shortest time sequence period, enrich data dimensions and provide high-quality data for a basic data processing process and a complex flow processing process. The method has the advantages that the overall evaluation of the entity resources of the gas pipe network is realized through the processing processes of morphological feature description, environmental feature description, objective situation description, design feature description and subjective situation description, and the processing processes of the external operation state and the operation state trend formed by data exchange among the processing processes, so that the real-time feedback accuracy of the intrinsic safety level in the online process of the gas pipe network is ensured, and the remote sensing prediction capability for dealing with sudden natural disasters, emergency faults and potential environmental hazards is provided.

An inspection robot of the intelligent inspection system for a gas pipe network in an embodiment of the invention is shown in fig. 6. In fig. 6, the inspection robot includes:

and the traveling mechanism 111 is used for controlling to form a body displacement track.

And a height adjusting mechanism 112 for controlled adjustment of the relative height of the fixed position of the sensor integrated layout mechanism.

And the horizontal angle adjusting mechanism 113 is used for controllably adjusting the horizontal direction of the comprehensive sensor arrangement mechanism.

And the pitching angle adjusting mechanism 114 is used for fixing the sensor comprehensive arrangement mechanism and controlling to adjust the pitching direction of the sensor comprehensive arrangement mechanism.

Those skilled in the art will appreciate that the body carries or contains a payload for performing the patrol sampling, including but not limited to an electromechanical structure for actuation, an energy storage structure for providing energy, a set of sensors for acquiring physical signals, and the like. The displacement track takes the absolute position of the routing inspection route as a reference datum. Those skilled in the art will appreciate that the adjustment process for each of the elevation adjustment, the horizontal angle adjustment and the pitch angle adjustment mechanisms is subject to overall controlled logic.

And the comprehensive sensor arrangement mechanism 115 is used for controllably adjusting the sensor projection distance of an acquisition matrix formed by the sensors in the coronal plane and the sensor projection distance in the sagittal plane.

The sensor comprehensive layout mechanism forms a layout space of the professional sensors, and forms layout space changes of the layout space in the directions of a coronal plane and a sagittal plane and space changes of the professional sensors. Such variations necessarily result in corresponding regular variations in the focus of the signal acquisition.

The intelligent gas pipe network inspection system provided by the embodiment of the invention fully utilizes the existing robot to bear professional sensor loads and universal sensor loads through the inspection robot, forms basic track control and action control aiming at the inspection route, and can effectively form a distributed acquisition and deployment framework of a pipe network environment. The professional sensors are matrixed through the sensor comprehensive layout mechanism to form variation parameters of the sensor matrix, so that the collection focus, range and resolution of physical signals can be controlled and changed in order, and a signal sampling mechanism for complex dimension identification of a pipe network and a pipe network environment is realized. Meanwhile, the intelligent inspection equipment can drive aiming at the non-occupied main road, and the technical purposes of signal acquisition off-line precision and compliance vehicle-mounted are achieved.

As shown in fig. 6, in an embodiment of the present invention, the sensor integrated layout mechanism 115 includes:

the linkage mechanical capacitance nano-tube body 116 is used for providing a fixed position with the adjusting mechanism, providing a power line, a signal line and an accommodating space and a wiring space of the linkage adjusting structure of the sensor, and accommodating the linkage adjusting structure for controlling the sensor to bear the link arm.

The fixing position with the adjustment mechanism is generally arranged at a point of symmetry of the side wall perpendicular to the axis of the containment drum. The containment cylinder remains rigid while maintaining volume. The wiring space includes but is not limited to a through hole for intercommunication on the side wall of the accommodating barrel body and fixing structures such as a buckle, a tenon, a limiting groove, a limiting column and a supporting frame for accommodating the inside and the outside of the side wall of the barrel body.

And the end head adapting flange disc body 117 is used for providing an electrical connection port and a fixed adapting structure of the sensor at one end of the linkage capacitance nano-cylinder body.

The end adaptive flange disc body is provided with an electrical connection port and a fixed adaptive structure which are required by a fixed type sensor, and the end adaptive flange disc body is provided with a through hole, an adaptive interface or a port which is communicated with the accommodating space and the wiring space of the linkage mechanical capacitance nano-cylinder body.

The sensor bearing link arm 118 is used for being movably connected with the linkage mechanical capacitance storage cylinder body, is controlled to perform folding and unfolding actions around the linkage mechanical capacitance storage cylinder body, provides an electrical connection port and a fixed adaptive structure of the flexible sensor, and is controlled to change the pointing angle of the fixed adaptive structure.

A group of professional sensors (including professional sensors of at least one physical signal) are correspondingly fixed on one sensor bearing link arm, and the types of the physical signals and an initial acquisition matrix among the types are determined among the professional sensors according to sampling requirements. The collapsing action includes a synchronized action of the sensor-bearing link arms. The fixed adapter structure includes a controlled jogging structure.

The intelligent gas pipe network inspection system provided by the embodiment of the invention is matched with the adjusting mechanisms of height, horizontal angle and pitching angle through the comprehensive sensor arrangement mechanism, and on the basis of determining the spatial point coordinates of the sensor by the existing positioning technology, the point coordinates are taken as the reference datum, so that a flexible arrangement structure is provided for forming a sensor matrix of a follow-up reference datum, the flexibility of the change of the volume, the sampling focus and the sampling density of a sampling space aimed by the sensor matrix is formed, and the requirement of the diversity of sampling dimensions in the pipe network operation situation evaluation process is met. The continuous sampling requirement in the intelligent inspection method for the gas pipe network in the embodiment can be formed.

The part of the comprehensive sensor arrangement mechanism of the inspection robot of the intelligent inspection system for the gas pipe network is shown in fig. 7. In fig. 7, the sensor carrying link arm 118 includes a hollow rectangular box 121 and a pair of stationary follower rings 122. The rectangular box body 121 forms a fixed end face 123 and an extended end face 124 along the length extending direction, an attaching end face 125 and a supporting end face 126 are arranged between the fixed end face 123 and the extended end face 124, the attaching end face 125 is attached to the linkage mechanical capacitor accommodating cylinder body 116, and the supporting end face 126 supports the fixed adaptive structure. The fixed follow-up ring 122 is coaxial, the axial line of the fixed follow-up ring 122 is perpendicular to the length extending direction of the rectangular box body 121, the rectangular box body 121 is fixed between the fixed follow-up rings 122, an intersection part formed by the fixed end face and the attaching end face of the rectangular box body 121 forms an adaptive cambered surface 127, the radius and the circle center of the adaptive cambered surface 127 are the same as those of the inner ring of the fixed follow-up ring 122, and the radian of the adaptive cambered surface 127 is smaller than 90 degrees. The connection part of the rectangular box body 121 and the fixed follow-up ring 122 is provided with a through hole. The radian of the adaptive cambered surface 127 is determined, so that the sensor bearing link arm 118 can be attached to the linkage mechanical capacitance storage cylinder body 116 when being contracted, at least 90 degrees can be achieved when being expanded, meanwhile, a fixed rotating shaft which is beneficial to fixing the follow-up ring 122 is positioned in the side wall of the linkage mechanical capacitance storage cylinder body 116, and the accommodating space of the storage cylinder body is fully utilized.

Set up a set of fixed adaptation structure 130 along length extending direction on supporting terminal surface 126, fixed adaptation structure 130 includes hollow triangular prism, the length extending direction of triangular prism is perpendicular with the length extending direction of rectangle box body 121, the triangular prism includes a location terminal surface 131, form fixed knot structure (fixed knot constructs the formation) on location terminal surface 131, location terminal surface 131 forms 5 to 15 degrees contained angles with the support terminal surface 126 of rectangle box body 121, location terminal surface 131 is towards extending terminal surface 124 direction, it establishes the via hole to open between triangular prism and rectangle box body 121. The included angle between the positioning end face 131 and the supporting end face 126 of the rectangular box body 121 is selected to satisfy the requirement that the sampling focus of the professional sensors of the same type carried by each supporting end face 126 has exorbitant property in the expanding-contracting rotation process of the sensor bearing link arm 118, so that a wider overall range can be sampled, and the continuous sampling of the three-dimensional environment space is facilitated. Physical signals in a three-dimensional environment space around the primary acquisition focus position can be acquired on the same acquisition time sequence node as detailed as possible, and acquisition of more accurate multi-dimensional acquisition information is facilitated.

As shown in fig. 7, in an embodiment of the present invention, the positioning end face 131 of the fixed adapter 130 is made of a bimetal 132, and a controlled thermal resistor (not shown in the drawing) is arranged in the hollow cavity of the triangular prism. The fixed adaptive structure 130 ensures the determined micro-adjustment of the sampling focus of the carried professional sensors of the same type during the unfolding-folding rotation process of the sensor bearing link arm 118, and can adapt to the adjustment of the sampling range of the three-dimensional environment space around the primary acquisition focus position during the unfolding-unfolding in-place process. The basic range of the three-dimensional environment space around the focal position during deployment can be determined by configuring the professional sensor position on the sensor carrying link arm 118, and the basic range of the three-dimensional environment space can be changed by fine adjustment of the fixed adapter structure 130 to adapt to the sampling requirement for the occlusion, extension or open change in the environment space.

As shown in fig. 7, in an embodiment of the present invention, the fixing distance between the adjacent fixing adaptive structures is gradually enlarged and the fixing height of the adjacent fixing adaptive structures is gradually increased along the length extending direction. The gradual change of the fixed adaptive structure can enlarge the installation adaptability and the included angle consistency of the professional sensor, and improve the shielding and the interference caused by insufficient continuous assembly sampling intervals of the sensor of the continuous fixed adaptive structure.

As shown in fig. 7, in an embodiment of the present invention, a reverse fixed adaptive structure 133 is disposed between the end of the group of fixed adaptive structures 130 and the extending end surface 124 of the rectangular box 121 along the length extending direction, the reverse fixed adaptive structure 133 includes a hollow triangular prism, the length extending direction of the triangular prism is perpendicular to the length extending direction of the rectangular box 121, the triangular prism includes a reverse positioning end surface 134, a fixed structure (the fixed structure is formed by using the existing fixed structure) is formed on the reverse positioning end surface 134, the reverse positioning end surface 134 forms an included angle of 15 to 25 degrees with the supporting end surface 126 of the rectangular box 121, the reverse positioning end surface 134 faces the direction of the fixed end surface 123, and a via hole is disposed between the triangular prism and the rectangular box 121. The inverse fixed adaptation structure 133 ensures that the projected maximum sampling interval edge of the sensor coronal plane provides a technical means of sample signal density enhancement in the sampling interval. The signal sampling in the determined range around the main sampling focus can be effectively reinforced by the most marginal sensor, and the possibility of differential signal acquisition is provided for the periphery of the main sampling focus.

As shown in fig. 7, in an embodiment of the present invention, the positioning end surface 131 of the fixed adapter 130 is made of a bimetal material, and a controlled thermal resistor (not shown in the drawing) is arranged in the hollow cavity of the triangular prism.

The part of the comprehensive sensor arrangement mechanism of the inspection robot of the intelligent inspection system for the gas pipe network is shown in fig. 8. In fig. 8, the sensor carrying link arm 118 includes a tension shaft 140 that is movably connected to the linkage capacitor receiver sidewall via the tension shaft 140. The tension shaft 140 includes a shaft body 141 and a pair of supporting protrusions 142, the shaft body 141 is a cylinder, an annular groove 143 is formed in the middle of the sidewall of the shaft body 141 along the circumferential direction, and the sidewall of the shaft body 141 on both sides of the annular groove 143 forms symmetrical fastening end surfaces 144. The supporting protrusions 142 are symmetrically and fixedly connected to two top ends of the rotating shaft body 141, and the supporting protrusions 142 and the rotating shaft body 141 are coaxial and provided with through holes along the axis. The tension rotating shaft 140 is rotatably fixed on a fixing frame at the inner side of the opening of the side wall of the linkage mechanical capacitance storage cylinder body 116 through a supporting protrusion 142, and the fixing frame adopts a necessary existing fixing structure to enable the axis of the tension rotating shaft 140 to be perpendicular to the axis of the linkage mechanical capacitance storage cylinder body 116. The tension rotating shaft 140 is fixed with the inner ring of the fixed following ring 122 of the sensor bearing link arm 118 through the fixed end face 144, so that the extending direction of the sensor bearing link arm 118 can be parallel to or perpendicular to or over perpendicular to the axis of the linkage capacitance storage cylinder body 116. The sensor carrying link arm 118 forms a power signal source for both rotational and stationary motion by looping the power belt 161 around the annular groove 143 of the tension shaft 140. The tension shafts 140 are arranged along the circumferential direction of the side wall of the linkage capacitance nano-cylinder and correspond to the sensor bearing link arms 118 one by one.

The part of the comprehensive sensor arrangement mechanism of the inspection robot of the intelligent inspection system for the gas pipe network is shown in fig. 9. In fig. 9, the linkage capacitor storage cylinder 116 includes a containment cylinder 150 and a linkage adjustment structure 160, a deployment power device 175 and a retraction power device 176 built into the containment cylinder 150. The power contracting device 176 comprises a servo motor 177 with a locking function, a lead screw 178, a lead screw pair 179 and a sliding turntable 180, wherein an output shaft of the servo motor 177 is coaxial with the lead screw 178, the lead screw pair 179 and the sliding turntable 180, the lead screw 178 is fixedly connected to the output shaft of the servo motor 177, the lead screw pair 179 is fixed in the center of the sliding turntable 180, the lead screw pair 179 moves along the lead screw 178, and the sliding turntable 180 is kept relatively stationary under the traction of a lead. The sliding dial 180 may employ bearings or rotating sleeves.

The deploy and retract

power devices

175, 176 are identically spaced and coaxial with the containment cylinder 150, and the retract power device 176 is located between the deploy power device 175 and the end of the containment cylinder 150. The servo motors 177 of the expansion power device 175 and the contraction power device 176 are attached to the inner side wall of the accommodation cylinder 150 by a fixing frame.

The linkage adjustment structures 160 are in one-to-one correspondence with the sensor carrying link arms 118. The sensor bearing link arms 118 are uniformly distributed along the circumferential direction of the linkage mechanical capacitance nano-tube body 116, the extending direction of the sensor bearing link arms 118 is consistent with the extending direction of the linkage mechanical capacitance nano-tube body 116, and the distributing direction of the composition structure of the linkage adjusting structure 160 is consistent with the extending direction of the linkage mechanical capacitance nano-tube body 116.

The linkage adjusting structure 160 includes a power belt 161, a first belt-contracting-end restraining rotating shaft 162, a second belt-contracting-end restraining rotating shaft 163, and a belt-expanding-end restraining rotating shaft 164, each of which has an axis parallel to the axis of the tension rotating shaft 140 and is rotatably fixed in the accommodating cylinder 150. Each shaft may be formed by a rotating sleeve or a small-sized bearing commonly used in the art.

The first belt contraction end constraint rotating shaft 162, the second belt contraction end constraint rotating shaft 163 and the belt expansion end constraint rotating shaft 164 are arranged in a triangular vertex mode, the first belt contraction end constraint rotating shaft 162 is located between the tension rotating shaft 140 and the second belt contraction end constraint rotating shaft 163, the line of the axis projection points of the tension rotating shaft 140 and the second belt contraction end constraint rotating shaft 163 is far away from one side of the side wall of the containing cylinder 150, and the belt expansion end constraint rotating shaft 164 is located on the line of the axis projection points of the first belt contraction end constraint rotating shaft 162 and the second belt contraction end constraint rotating shaft 163 and is far away from one side of the side wall of the containing cylinder 150.

The power belt 161 includes a belt contracting end and a belt expanding end, the power belt 161 is looped around the annular groove 143 of the tension rotating shaft 140, the belt contracting end is passed through by the side of the belt contracting end first constraint rotating shaft 162 away from the side wall of the accommodating cylinder 150 and the side of the belt contracting end second constraint rotating shaft 163 close to the side wall of the accommodating cylinder 150 after leaving the annular groove 143, and the belt expanding end is passed through by the side of the belt expanding end constraint rotating shaft 164 close to the side wall of the accommodating cylinder 150 after leaving the annular groove 143. The first restraint rotation shaft 162 passing through the belt contraction end, the second restraint rotation shaft 163 passing through the belt contraction end, and the power belt 161 passing through the belt expansion end restraint rotation shaft 164 are not partially in contact.

In one embodiment of the invention, the belt retraction end and the belt deployment end are spaced from the annular groove 143 by an arc length of 15 to 45 degrees. The arc length of the gap ensures the contact area between the power belt 161 and the tension rotating shaft 140, ensures that the texture matching of the contact surface and the contact surface can form huge static friction force, and ensures that the tension rotating shaft 140 follows the power belt 161. Meanwhile, the smaller interval arc length ensures that the arrangement of the vertexes of the triangle formed by the restraining rotating shaft is easier to form more extreme turning angles of the contraction end belt and the expansion end belt, and the power conduction of the expansion power device 175 and the contraction power device 176 is improved.

In an embodiment of the present invention, the spreading angle (formed by the rotating shaft 164 and the power belt) of the power belt partially surrounding the belt spreading end constraint rotating shaft 164 is an obtuse angle and faces the axis of the accommodating cylinder 150, the spreading angle of the power belt partially surrounding the belt contraction end second constraint rotating shaft 163 is an obtuse angle and faces the axis of the accommodating cylinder 150, and the spreading angle of the power belt partially surrounding the belt contraction end first constraint rotating shaft 162 is an acute angle and faces the sidewall of the accommodating cylinder 150.

The linkage adjusting structure 160 further comprises a distance guiding rotating shaft 171, a restraining traction wire 172 and a spreading traction wire 173, wherein one end of the spreading traction wire 173 is fixedly connected with the belt spreading end of the power belt 161, and the other end of the belt spreading traction wire is fixedly connected with the side wall of the sliding turntable 180 of the spreading power device 175. The distance guiding rotation shaft 171 is arranged on the inner side wall of the containing cylinder 150 corresponding to the servo motor 177 of the unfolding power device 175, and one end of the constrained traction wire 172 is fixedly connected with the belt contraction end of the power belt 161, and the other end of the constrained traction wire passes through the distance guiding rotation shaft 171 and is fixedly connected with the side wall of the sliding turntable 180 of the folding power device 176 after being close to one side of the inner side wall of the containing cylinder 150.

The output power of the unwinding power device 175 and the retraction power device 176 respectively pull the unwinding end and the retraction end of the power belt 161 to form a static friction force by tightening the power belt around the tension rotating shaft 140. By adjusting the angular velocity difference and the angular velocity constant value when the two power transposes synchronously rotate, the sensor load and the expansion-contraction rate of the sensor bearing link arm 118 can be flexibly adapted, and the sensor matrix adjustment in the professional sensor carrying requirement and the sensor sampling process can be fully adapted.

As shown in fig. 9, in an embodiment of the present invention, the ring-closing beam 174 is further included, and the ring-closing beam 174 is a circular ring, on which bearings or rotating sleeves are uniformly distributed, and the circular ring is fixedly connected to the inner sidewall of the accommodating cylinder 150 through a fixing bracket. The deployment traction wire 173 of each linkage adjustment structure 160 passes inside the cinch ring beam 174 close to the axis of the receiving cylinder 150 such that the portions of the wire passing through the cinch ring beam 174 tend to be parallel. The converging beam 174 is simultaneously aligned with the triangular vertex formed by each set of constrained axes to form a more extreme angle of inflection, which improves the power transmission of the power expansion device 175 and the power contraction device 176, and reduces the complexity of the transmission structure of the power contraction device 176.

As shown in fig. 9, in an embodiment of the present invention, the power take-off device further includes a trim guide 181, a trim block 182, a front pulling shaft 183 and a rear pulling shaft 184, and the end side wall of the accommodating cylinder 150 is circumferentially expanded in a direction perpendicular to the axis to form an annular trim space 185, and the trim space 185 surrounds the power take-off device 176. The balancing guide rail 181 is parallel to the axis of the accommodating cylinder 150, the balancing guide rail 181 is uniformly arranged in the annular balancing space 185, the balancing guide rail 181 is provided with a slidable balancing block 182, a front traction rotating shaft 183 and a rear traction rotating shaft 184 are respectively arranged on two sides of the balancing block 182 along the balancing guide rail 181, a front traction lead and a rear traction guide wire are arranged, one end of the front traction lead is fixedly connected to the front end of the balancing block 182, the other end of the front traction lead surrounds the front traction rotating shaft 183 and is fixedly connected to the side wall of the sliding turntable 180 of the power shrinking device 176, and one end of the rear traction guide wire is fixedly connected to the rear end of the balancing block 182, the other end of the rear traction rotating shaft 184 surrounds the rear traction rotating shaft 184 and is fixedly connected to the side wall of the sliding turntable 180 of the power shrinking device 176.

The balancing structure formed by the balancing block 182 can fully adapt to the unbalanced moment formed by the supporting rotating shaft when the sensor bearing link arm 118 carries a larger sensor load to perform the opening-closing action, and effectively improve the rotating load of the output shaft of the pitching angle adjusting mechanism.

In an embodiment of the invention, a professional sensor sampling layout scheme of the intelligent inspection robot is formed according to the signal sampling requirement of the environment space. A laser output light path and an optical signal receiving lens of the targeted laser methane detector are arranged in the center of the end head adaptive flange disc body 117, and meanwhile, a visible light camera is arranged on one side of the laser output light path, and an infrared camera is arranged on the opposite side of the visible light camera. An environmental signal collection focus of the sensor integrated layout mechanism 115 is formed by a visible light camera and an infrared camera.

Two long and short sensor bearing link arms 118 are arranged around the linkage capacitance nano-cylinder body 116, each group comprises 3 sensor bearing link arms 118, the two groups of sensor bearing link arms 118 are arranged at even intervals, the long sensor bearing link arm 118 comprises six sequential positioning end faces 131 and a tail end reverse positioning end face 134, the short sensor bearing link arm 118 comprises three sequential positioning end faces 131 and a tail end reverse positioning end face 134, the distances between the positioning end faces 131 of the (same and different) sensor bearing link arms 118 are consistent, and the distances between the reverse positioning end faces 134 on the (different) sensor bearing link arms 118 and the adjacent positioning end faces 131 are consistent.

The fixed follow-up ring 122 is used as a starting end, the infrared focal plane temperature sensor is fixed on the second positioning end face 131 on the short group of sensor bearing link arms 118, and the infrared focal plane temperature sensor is fixed on the sixth positioning end face 131 on the long group of sensor bearing link arms 118. The wide temperature change information in the environment space and the temperature change in the environment space along the axial direction of the sensor bearing link arm are obtained through the distribution arrangement of the sensors along the axial direction of the sensor bearing link arm.

A visible light camera is attached to the fifth positioning end face 131 on the long group sensor carrier link arm 118, and a visible light camera is attached to the first positioning end face 131 on the short group sensor carrier link arm 118. Visual angles formed by the cameras are partially overlapped, complete video information in an environment space is collected, and the parallax generated among the cameras is utilized to form a multi-description-dimension stereoscopic vision characteristic.

A laser distance measuring device is attached to the long group sensor support link arm 118 at the first positioning end face 131 and at the opposite positioning end face 134. The upward opposite characteristic of laser range finder reconvergence mode has guaranteed to carry the distance signal in the wider collection visual angle of synchronous acquisition when linking the arm switch with the sensor.

A laser rangefinder is fixed to the third positioning end face 131 on the short set of sensor carrying link arms 118. Matching of the resulting near field measurement accuracy and the original measurement accuracy on the link arm 118 is combined with the long set of sensor carrying.

A leaking gas detection sensor is fixed to the fourth positioning end face 131 on the long group sensor carrying link arm 118, and a leaking gas detection sensor is fixed to the reverse positioning end face 134 on the short group sensor carrying link arm 118. The detection sensor can select a gas concentration detection type, and concentration gradual change detection along the axial direction or the radial direction is formed by opening and closing of the sensor bearing link arm 118.

A light supplement lamp is fixed on the second positioning end face 131 on the long group sensor bearing link arm 118, and an infrared camera is fixed on the third positioning end face 131. The application of the infrared camera and the light supplement lamp ensures the framing definition and the image synthesis precision under low illumination.

Through above-mentioned sensor layout structure, can form and use the gas of environmental signal collection focus as the initial point to reveal scope collection space, visible light image collection space, infrared image collection space, surrounding environment laser modeling space and temperature variation collection space, each type of collection space has compound region each other, can effectively form the comprehensive signal collection environment in the space of great yardstick, acquires the environmental signal collection focus and describes the data of collection of dimension as the environmental space complete of center. Meanwhile, when the opening and closing angle of the sensor bearing link arm 118 is controlled to be adjusted, various types of collection focuses and space volumes of the comprehensive signal collection environment can be controlled to change, the body characteristics and the environment characteristics which do not differentiate the entity resources are fully collected, and the on-site efficient and accurate collection of the diversified dimension data is realized.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An intelligent inspection method for a gas pipe network is characterized by comprising the following steps:

dividing the pipe network space to form design feature description of entity resources in a local space; the entity resources comprise pipelines, valves and gate wells with different grades; the process of forming the design characterization includes:

determining basic segmentation dimensions according to design resources, and establishing a local space segmentation base point of a pipe network space according to the basic segmentation dimensions;

forming a segmentation scale in a single basic segmentation dimension in a pipe network space according to local space segmentation base points, and forming a single local space in the single basic segmentation dimension and a corresponding single design feature description;

establishing the correlation and the inclusion degree between single local spaces among single basic segmentation dimensions, establishing the space local characteristics of entity resources in the local spaces according to the correlation and the inclusion degree, and forming the design characteristic description of the entity resources according to the space local characteristics and the single design characteristic description;

continuously sampling the physical attributes of the entity resources in the local space through an inspection robot to form morphological feature description; the process of forming the morphological feature description comprises:

forming a continuous outline of the entity resource in the local space according to the design characteristic description of the entity resource;

describing and forming physical type characteristics of continuous outlines and corresponding constraint type characteristics according to the design characteristics of entity resources;

sampling constraint type characteristic data by using a sensor carried by the inspection robot to form morphological characteristic description;

continuously sampling the environmental attributes of the entity resources in the local space through the inspection robot to form environmental characteristic description; the process of forming the environmental profile includes:

forming an environment space corresponding to the entity resource continuous outline in the local space according to the design characteristic description of the entity resource;

forming an infringement type feature and at least three levels of security state descriptions of the infringement type feature in the environment space according to the design feature descriptions of the entity resources;

carrying out sampling by utilizing a routing inspection robot to carry a sensor according to the description of the safety state to form quantitative collection of invasion type characteristics in areas with different scales, and forming environmental characteristic description of an environmental space according to the quantitative collection of the description of the different safety states;

performing migration quantification through the continuous morphological characteristic description and the environmental characteristic description to form objective situation description of a pipe network space; the process of forming the objective situation description comprises the following steps:

establishing a local spatial structure characteristic map of the pipe network according to the physical type characteristics and the spatial local characteristics described by the entity resource design characteristics;

establishing a local space threat characteristic map of the pipe network according to the constraint type characteristics in the morphological characteristic description and the invasion type characteristics of the environment space in the environment characteristic description;

superposing the local space structure characteristic map and the local space threat characteristic map to form time sequence objective situation description of a local space;

acquiring subjective situation description of the entity resource according to the design feature description, and evaluating the running state and the state trend of the entity resource according to the objective situation description and the subjective situation description; the evaluation process of the running state of the entity resource comprises the following steps:

forming subjective situation description characteristic dimensions of the entity resources according to the production operation data;

extracting corresponding situation description feature dimension data from objective situation description according to subjective situation description feature dimensions, determining time sequence migration quantization, and forming the running state of the entity resource through the time sequence migration quantization;

the evaluation process of the state trend of the entity resource comprises the following steps:

forming a previous state trend according to the running state of the entity resource;

and establishing objective situation description simulation parameters according to the previous state trend so as to realize state trend prediction.

2. The utility model provides a gas pipe network intelligence system of patrolling and examining which characterized in that includes:

the storage is used for storing program codes corresponding to the processing process of the intelligent gas pipe network inspection method according to claim 1;

a processor for executing the program code.

3. The utility model provides a gas pipe network intelligence system of patrolling and examining which characterized in that includes:

the pipe network operation situation evaluation system is used for forming a processing process of overall objective situation description of a pipe network environment space according to local morphological characteristic description and environment characteristic description formed by continuous sampling; evaluating the running state and the state trend of the entity resources according to the acquired design feature description, subjective situation description and objective situation description; wherein:

the entity resources comprise pipelines, valves and gate wells with different grades;

the process of forming the design characterization includes:

the process of forming the objective situation description comprises the following steps:

superposing the local space structure characteristic map and the local space threat characteristic map to form time sequence objective situation description of a local space; the process of forming the morphological feature description in the process of forming the objective situation description comprises the following steps:

the process of forming the environmental characteristic description in the process of forming the objective situation description comprises the following steps:

the evaluation process of the running state of the entity resource comprises the following steps:

4. The gas pipe network intelligent inspection system according to claim 3, wherein the inspection robot includes:

the walking mechanism is used for controlling to form a body displacement track;

the height adjusting mechanism is used for controllably adjusting the relative height of the fixed position of the sensor comprehensive laying mechanism;

the horizontal angle adjusting mechanism is used for controlling and adjusting the horizontal direction of the comprehensive sensor arrangement mechanism;

the pitching angle adjusting mechanism is used for fixing the sensor comprehensive arrangement mechanism and controlling to adjust the pitching direction of the sensor comprehensive arrangement mechanism;

and the comprehensive sensor arrangement mechanism is used for controllably adjusting the sensor projection distance of an acquisition matrix formed by the sensors in the coronal plane and the sensor projection distance in the sagittal plane.